Adaptieve Regeling voor een Robot Met Twee Graden van Vrijheid (Adaptive Control of a Robot with Two Degrees of Freedom)

摘要

An adaptive robot control system, using the so-called inverse model, was investigated with a view to the avoidance of mutual interference between robot links due to dynamic nonlinearities occurring in the case of high angular velocities. The inverse model was incorporated in the control scheme preceeding the robot dynamics. The model calculates the torques required for a predescribed trajectory. A great advantage is that the whole system (inverse model plus robot) has an almost linear behavior. The parameters of the resulting second order system were estimated with a least squares estimator. These parameters were used to tune a pole-zero placement servocontroller in order to realize a path-following behavior.